Cartographer Project Overview

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) across multiple platforms and sensor configurations.

Installation instructions

For Ubuntu 14.04 (Trusty):

sudo apt-get install \
  g++ \
  google-mock \
  libboost-all-dev \
  libgflags-dev \
  libgoogle-glog-dev \
  liblua5.2-dev \
  libprotobuf-dev \
  libsuitesparse-dev \
  libwebp-dev \
  ninja-build \
  protobuf-compiler \
  python-sphinx

Download, build and install Ceres:

git clone https://ceres-solver.googlesource.com/ceres-solver
cd ceres-solver
mkdir build && cd build
cmake ..
make
sudo make install

Build Cartographer:

cd cartographer
mkdir build && cd build
cmake .. -G Ninja
ninja

Running with Velodyne data

apt-get install libpcap-dev
cd <somwhere>
git clone git@github.com:ros-drivers/velodyne.git
cd <catkin_ws>/src
ln -s <somewhere>/velodyne/velodyne* .